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Gautier Hattenberger
528f9a5ade
- generic pan/tilt gimbal control with several builtin modes - gimbal position and orientation configurable - specialization possible for gimbals not matching the default scheme (with an example using the Caddx GM3 3 axis gimbal) - remove all the old unused code using gimbal control
39 lines
1.8 KiB
XML
39 lines
1.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="cam_gimbal" dir="cam_control" task="control">
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<doc>
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<description>
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Generic PAN/TILT camera gimbal control
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</description>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="cam control">
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<dl_setting MAX="7" MIN="0" STEP="1" module="cam_control/cam_gimbal" VAR="cam_gimbal.mode" shortname="mode" values="OFF|JOYSTICK|ANGLES|NADIR|TARGET|WAYPOINT|AC_TARGET" handler="SetMode"/>
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<dl_setting MAX="1" MIN="0" STEP="1" module="cam_control/cam_gimbal" VAR="cam_gimbal.lock" shortname="lock" values="UNLOCK|LOCK" handler="SetLock"/>
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<dl_setting MAX="90" MIN="-90" STEP="1" var="cam_gimbal.tilt_angle" shortname="tilt" unit="rad" alt_unit="deg"/>
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<dl_setting MAX="180" MIN="-180" STEP="1" var="cam_gimbal.pan_angle" shortname="pan" unit="rad" alt_unit="deg"/>
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<dl_setting min="1" max="27" step="1" var="cam_gimbal.target_wp_id" shortname="wp id"/>
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<dl_setting min="1" max="255" step="1" var="cam_gimbal.target_ac_id" shortname="ac id"/>
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<dl_setting MAX="100." MIN="-100." STEP="1." var="cam_gimbal.target_pos.x" shortname="target x" unit="m"/>
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<dl_setting MAX="100." MIN="-100." STEP="1." var="cam_gimbal.target_pos.y" shortname="target y" unit="m"/>
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<dl_setting MAX="100." MIN="-100." STEP="1." var="cam_gimbal.target_pos.z" shortname="target z" unit="m"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<dep>
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<recommends>joystick</recommends>
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</dep>
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<header>
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<file name="cam_gimbal.h"/>
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</header>
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<init fun="cam_gimbal_init()"/>
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<periodic fun="cam_gimbal_periodic()" />
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<makefile>
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<file name="cam_gimbal.c"/>
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<test firmware="fixedwing"/>
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<test firmware="rotorcraft"/>
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<test firmware="rover"/>
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</makefile>
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</module>
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